Self balancing robot | Arduino | MPU6050 | DRV8825 | Stepper motor

This is the self balancing robot I've been working on for quite some time. It looks a bit unfinished, because it still is.
Design is based on Joop Brokkings robot. He has good content you should check out if you're interested more in depth how this works.
https://www.youtube.com/channel/UCpJ5uKSLxP84TXQtwiRNm1g

Code is written by me:
https://github.com/rekomerio/self-balancing-robot

If you want me to explain the how the code runs, leave a comment below and I will consider making a video.

Видео Self balancing robot | Arduino | MPU6050 | DRV8825 | Stepper motor канала R3gouify